Controlled bi-articular robot arm with planetary gear

In conventional robot arms, one motor is placed in one joint. The other hand, the human upper extremities with bi-articular muscles bind on shoulder and elbow. However, we have introduced the robotic arm with planetary gear imitated bi-articular muscles. The two-link arm with three-actuator has a re...

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Bibliographic Details
Published in2012 9th France-Japan & 7th Europe-Asia Congress on Mechatronics (MECATRONICS) / 13th Int'l Workshop on Research and Education in Mechatronics (REM) pp. 135 - 141
Main Authors Honna, K., Umemura, A., Haneyoshi, T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2012
Subjects
bi-articular muscle
planetary gear
robot arm
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Summary:In conventional robot arms, one motor is placed in one joint. The other hand, the human upper extremities with bi-articular muscles bind on shoulder and elbow. However, we have introduced the robotic arm with planetary gear imitated bi-articular muscles. The two-link arm with three-actuator has a redundant mechanism. This paper reports on 2 methods for sharing of arm tip force. One is method to minimize 2-norm. The other is equipotential method that has motor gain to decide much the same direction of displacement and force. The 2-norm method shows smaller torque than the other one. The trajectory of the arm tip is plotted close to our target. As a result, the 2-norm method in trajectory control and the motor gain method in compliance control are integrated to produce much advantageous control.
ISBN:9781467347709
1467347701
DOI:10.1109/MECATRONICS.2012.6450999